version: 66.06
glider: 523
mission: 4
dive: 12
start: 4 26 113 11 26 43
data:
$ID,523
$MISSION,4
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,140
$T_MISSION,160
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36152.793
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1980
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,111734,2111.132,-15757.110,33,1.4,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.3
$GPS2,112624,2111.148,-15757.151,19,1.1,19,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,228.6,9958,-17.5,-9.524
$D_GRID,400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-77.88,0.000,6,0.000,0.000,37,1985,3395,0,0,0,0,0,0
$GC,103,-0.76,-146.0,4.0,-7.6,13,118,9.68,2.25,0.00,0.000,4,0.235,0.050,2445,567,3395,0,0,0,0,0,0
$GC,321,-0.76,-146.0,40.5,-12.4,53,327,0.00,2.20,0.00,0.000,6,0.000,0.040,2437,1988,3396,0,0,0,0,0,0
$GC,653,-0.76,-146.0,75.6,-10.2,114,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1988,3397,0,0,0,0,0,0
$GC,982,-0.76,-146.0,104.7,-9.5,149,987,0.00,2.28,0.00,0.000,4,0.000,0.054,2437,559,3399,0,0,0,0,0,0
$GC,1105,-0.76,-146.0,118.2,-12.0,160,1110,0.00,2.17,0.00,0.000,6,0.000,0.038,2429,1985,3399,0,0,0,0,0,0
$GC,1433,-0.76,-146.0,149.1,-7.7,190,1437,0.00,2.25,0.00,0.000,4,0.000,0.056,2429,567,3400,0,0,0,0,0,0
$GC,1595,-0.76,-146.0,162.8,-7.7,204,1600,0.12,2.15,0.00,0.000,6,0.158,0.038,2456,1982,3400,0,0,0,0,0,0
$GC,1923,-0.76,-146.0,186.4,-7.0,234,1927,0.00,2.17,0.00,0.000,4,0.000,0.057,2448,3384,3400,0,0,0,0,0,0
$GC,1998,-0.76,-146.0,192.7,-8.6,240,2005,0.00,2.20,0.00,0.000,6,0.000,0.041,2447,1975,3400,0,0,0,0,0,0
$GC,2327,-0.76,-146.0,218.8,-7.8,261,2331,0.00,2.17,0.00,0.000,4,0.000,0.055,2447,563,3400,0,0,0,0,0,0
$GC,2360,-0.76,-146.0,221.4,-7.7,262,2366,0.00,2.15,0.00,0.000,6,0.000,0.038,2440,1981,3400,0,0,0,0,0,0
$GC,2678,-0.76,-146.0,243.2,-7.1,278,2682,0.00,2.22,0.00,0.000,4,0.000,0.058,2438,3390,3400,0,0,0,0,0,0
$GC,2706,-0.76,-146.0,245.4,-7.3,279,2710,0.00,2.17,0.00,0.000,6,0.000,0.041,2438,1973,3400,0,0,0,0,0,0
$GC,3025,-0.76,-146.0,269.2,-9.2,294,3030,0.00,2.17,0.00,0.000,4,0.000,0.058,2439,578,3400,0,0,0,0,0,0
$GC,3131,-0.76,-146.0,280.0,-9.7,298,3137,0.00,2.15,0.00,0.000,6,0.000,0.041,2430,1984,3400,0,0,0,0,0,0
$GC,3450,-0.76,-146.0,305.5,-7.2,312,3454,0.00,2.17,0.00,0.000,4,0.000,0.060,2420,3387,3398,0,0,0,0,0,0
$GC,3586,-0.76,-146.0,314.3,-6.3,315,3591,0.12,2.15,0.00,0.000,6,0.140,0.043,2458,1976,3398,0,0,0,0,0,0
$GC,3912,-0.76,-146.0,333.5,-6.6,323,3916,0.00,2.17,0.00,0.000,4,0.000,0.061,2458,575,3396,0,0,0,0,0,0
$GC,4069,-0.76,-146.0,345.5,-7.4,326,4073,0.00,2.17,0.00,0.000,6,0.000,0.043,2452,1992,3396,0,0,0,0,0,0
$GC,4413,-0.76,-146.0,360.7,-3.7,335,4417,0.00,2.17,0.00,0.000,4,0.000,0.060,2443,3389,3394,0,0,0,0,0,0
$GC,4480,-0.76,-146.0,362.7,-2.9,336,4484,0.00,2.15,0.00,0.000,6,0.000,0.044,2443,1980,3394,0,0,0,0,0,0
$STATE,4820,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4820,begin apogee
$GC,4826,-0.17,0.0,377.3,5.3,345,4946,0.60,0.00,117.03,0.739,6,0.112,0.000,2643,1980,2800,0,0,0,0,0,0
$STATE,4947,end apogee,CONTROL_FINISHED_OK
$STATE,4947,begin climb
$GC,4950,0.76,146.0,379.4,0.0,348,5080,0.82,0.00,123.90,0.708,6,0.057,0.000,2949,1980,2204,0,0,0,0,0,0
$GC,5397,0.76,146.0,310.1,17.4,359,5401,0.00,2.30,0.00,0.000,4,0.000,0.066,2960,571,2195,0,0,0,0,0,0
$GC,5424,0.76,146.0,304.7,19.9,359,5428,0.00,2.25,0.00,0.000,6,0.000,0.047,2960,1984,2194,0,0,0,0,0,0
$GC,5739,0.76,146.0,245.8,17.4,373,5743,0.00,2.22,0.00,0.000,4,0.000,0.062,2960,3390,2193,0,0,0,0,0,0
$GC,5807,0.76,146.0,233.6,17.4,376,5811,0.00,2.25,0.00,0.000,6,0.000,0.050,2969,1978,2192,0,0,0,0,0,0
$GC,6130,0.76,146.0,178.0,16.7,397,6134,0.00,2.28,0.00,0.000,4,0.000,0.061,2969,3393,2191,0,0,0,0,0,0
$GC,6280,0.76,146.0,152.5,16.6,410,6284,0.12,2.25,0.00,0.000,6,0.160,0.050,2946,1973,2190,0,0,0,0,0,0
$GC,6607,0.76,146.0,109.1,13.8,440,6611,0.00,2.22,0.00,0.000,4,0.000,0.063,2955,560,2190,0,0,0,0,0,0
$GC,6692,0.76,146.0,97.7,13.1,447,6696,0.00,2.22,0.00,0.000,6,0.000,0.045,2955,1991,2189,0,0,0,0,0,0
$GC,7018,0.76,146.0,50.4,14.1,496,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1992,2189,0,0,0,0,0,0
$GC,7346,0.76,146.0,11.5,11.3,557,7353,0.00,2.28,0.00,0.000,4,0.000,0.056,2965,565,2189,0,0,0,0,0,0
$GC,7393,0.76,146.0,5.2,14.4,565,7401,0.00,2.20,0.00,0.000,6,0.000,0.043,2965,1982,2189,0,0,0,0,0,0
$STATE,7412,end climb,SURFACE_DEPTH_REACHED
$STATE,7412,begin surface coast
$FINISH,0.3,1.023706
$STATE,7436,end surface coast,CONTROL_FINISHED_OK
$STATE,7436,begin surface
$SM_CCo,7454,65.65,0.476,0,0,1575,300.24
$SM_GC,1.10,0.00,0.00,65.65,0.000,0.000,0.476,39,1990,1575,-8.32,0.31,300.24
$IRIDIUM_FIX,2111.01,-15744.86,210702,090916
$TT8_MAMPS,0.028379
$HUMID,66.10
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,21.60
$XPDR_PINGS,8
$24V_AH,24.7,1.495
$10V_AH,10.6,1.652
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.800,66.200,240.925,65.650,0.000,26.225,33.003,296.241,17.000,0.000,19.609,1041.290,4139.546,368.274,1892.784,612.525,0.000,1009.945,0.000,1851.994,0.000,95.862,0.000
$DEVICE_MAMPS,234.702,65.962,738.621,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,389.902,333.107,1183.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,31881,572
$CAP_FILE_SIZE,88987,0
$CFSIZE,260165632,254513152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260413,133259,2110.362,-15758.122,17,0.9,17,9.8